OpenRaiser/Intern-Atlas huggingface dataset:
QD-PCQA: Quality-Aware Domain Adaptation for Point Cloud Quality Assessment
Venue: arXiv cs.CV 2026
Year: 2026

No-Reference Point Cloud Quality Assessment (NR-PCQA) still struggles with generalization, primarily due to the scarcity of annotated point cloud datasets. Since the Human Visual System (HVS) drives perceptual quality assessment independently of media types, prior knowledge on quality learned from images can be repurposed for point clouds. This insight motivates adopting Unsupervised Domain Adaptation (UDA) to transfer quality-relevant priors from labeled images to unlabeled point clouds. However, existing UDA-based PCQA methods often overlook key characteristics of perceptual quality, such as sensitivity to quality ranking and quality-aware feature alignment, thereby limiting their effectiveness. To address these issues, we propose a novel Quality-aware Domain adaptation framework for PCQA, termed QD-PCQA. The framework comprises two main components: i) a Rank-weighted Conditional Alignment (RCA) strategy that aligns features under consistent quality levels and adaptively emphasizes misranked samples to reinforce perceptual quality ranking awareness; and ii) a Quality-guided Feature Augmentation (QFA) strategy, which includes quality-guided style mixup, multi-layer extension, and dual-domain augmentation modules to augment perceptual feature alignment. Extensive cross-domain experiments demonstrate that QD-PCQA significantly improves generalization in NR-PCQA tasks. The code is available at https://github.com/huhu-code/QD-PCQA.
Understanding Parents' Desires in Moderating Children's Interactions with GenAI Chatbots through LLM-Generated Probes
Venue: arXiv cs.HC 2026
Year: 2026

This paper studies how parents want to moderate children's interactions with Generative AI chatbots, with the goal of informing the design of future GenAI parental control tools. We first used an LLM to generate synthetic child-GenAI chatbot interaction scenarios and worked with four parents to validate their realism. From this dataset, we carefully selected 12 diverse examples that evoked varying levels of concern and were rated the most realistic. Each example included a prompt and a GenAI chatbot response. We presented these to parents (N=24) and asked whether they found them concerning, why, and how they would prefer the responses to be modified and communicated. Our findings reveal three key insights: (1) parents express concern about interactions that current GenAI chatbot parental controls neglect; (2) parents want fine-grained transparency and moderation at the conversation level; and (3) parents need personalized controls that adapt to their desired strategies and children's ages.
Whole-Body Safe Control of Robotic Systems with Koopman Neural Dynamics
Venue: arXiv cs.RO 2026
Year: 2026

Controlling robots with strongly nonlinear, high-dimensional dynamics remains challenging, as direct nonlinear optimization with safety constraints is often intractable in real time. The Koopman operator offers a way to represent nonlinear systems linearly in a lifted space, enabling the use of efficient linear control. We propose a data-driven framework that learns a Koopman embedding and operator from data, and integrates the resulting linear model with the Safe Set Algorithm (SSA). This allows the tracking and safety constraints to be solved in a single quadratic program (QP), ensuring feasibility and optimality without a separate safety filter. We validate the method on a Kinova Gen3 manipulator and a Go2 quadruped, showing accurate tracking and obstacle avoidance.
ErrorLLM: Modeling SQL Errors for Text-to-SQL Refinement
Venue: arXiv cs.CL 2026
Year: 2026

Despite the remarkable performance of large language models (LLMs) in text-to-SQL (SQL generation), correctly producing SQL queries remains challenging during initial generation. The SQL refinement task is subsequently introduced to correct syntactic and semantic errors in generated SQL queries. However, existing paradigms face two major limitations: (i) self-debugging becomes increasingly ineffective as modern LLMs rarely produce explicit execution errors that can trigger debugging signals; (ii) self-correction exhibits low detection precision due to the lack of explicit error modeling grounded in the question and schema, and suffers from severe hallucination that frequently corrupts correct SQLs. In this paper, we propose ErrorLLM, a framework that explicitly models text-to-SQL Errors within a dedicated LLM for text-to-SQL refinement. Specifically, we represent the user question and database schema as structural features, employ static detection to identify execution failures and surface mismatches, and extend ErrorLLM's semantic space with dedicated error tokens that capture categorized implicit semantic error types. Through a well-designed training strategy, we explicitly model these errors with structural representations, enabling the LLM to detect complex implicit errors by predicting dedicated error tokens. Guided by the detected errors, we perform error-guided refinement on the SQL structure by prompting LLMs. Extensive experiments demonstrate that ErrorLLM achieves the most significant improvements over backbone initial generation. Further analysis reveals that detection quality directly determines refinement effectiveness, and ErrorLLM addresses both sides by high detection F1 score while maintain refinement effectiveness.
DAGE: Dual-Stream Architecture for Efficient and Fine-Grained Geometry Estimation
Venue: arXiv cs.CV 2026
Year: 2026

Estimating accurate, view-consistent geometry and camera poses from uncalibrated multi-view/video inputs remains challenging - especially at high spatial resolutions and over long sequences. We present DAGE, a dual-stream transformer whose main novelty is to disentangle global coherence from fine detail. A low-resolution stream operates on aggressively downsampled frames with alternating frame/global attention to build a view-consistent representation and estimate cameras efficiently, while a high-resolution stream processes the original images per-frame to preserve sharp boundaries and small structures. A lightweight adapter fuses these streams via cross-attention, injecting global context without disturbing the pretrained single-frame pathway. This design scales resolution and clip length independently, supports inputs up to 2K, and maintains practical inference cost. DAGE delivers sharp depth/pointmaps, strong cross-view consistency, and accurate poses, establishing new state-of-the-art results for video geometry estimation and multi-view reconstruction.
RAGNav: A Retrieval-Augmented Topological Reasoning Framework for Multi-Goal Visual-Language Navigation
Venue: arXiv cs.AI 2026
Year: 2026

Vision-Language Navigation (VLN) is evolving from single-point pathfinding toward the more challenging Multi-Goal VLN. This task requires agents to accurately identify multiple entities while collaboratively reasoning over their spatial-physical constraints and sequential execution order. However, generic Retrieval-Augmented Generation (RAG) paradigms often suffer from spatial hallucinations and planning drift when handling multi-object associations due to the lack of explicit spatial modeling.To address these challenges, we propose RAGNav, a framework that bridges the gap between semantic reasoning and physical structure. The core of RAGNav is a Dual-Basis Memory system, which integrates a low-level topological map for maintaining physical connectivity with a high-level semantic forest for hierarchical environment abstraction. Building on this representation, the framework introduces an anchor-guided conditional retrieval and a topological neighbor score propagation mechanism. This approach facilitates the rapid screening of candidate targets and the elimination of semantic noise, while performing semantic calibration by leveraging the physical associations inherent in the topological neighborhood.This mechanism significantly enhances the capability of inter-target reachability reasoning and the efficiency of sequential planning. Experimental results demonstrate that RAGNav achieves state-of-the-art (SOTA) performance in complex multi-goal navigation tasks.
Agentic Peer-to-Peer Networks: From Content Distribution to Capability and Action Sharing
Venue: arXiv cs.NI 2026
Year: 2026

The ongoing shift of AI models from centralized cloud APIs to local AI agents on edge devices is enabling \textit{Client-Side Autonomous Agents (CSAAs)} -- persistent personal agents that can plan, access local context, and invoke tools on behalf of users. As these agents begin to collaborate by delegating subtasks directly between clients, they naturally form \emph{Agentic Peer-to-Peer (P2P) Networks}. Unlike classic file-sharing overlays where the exchanged object is static, hash-indexed content (e.g., files in BitTorrent), agentic overlays exchange \emph{capabilities and actions} that are heterogeneous, state-dependent, and potentially unsafe if delegated to untrusted peers. This article outlines the networking foundations needed to make such collaboration practical. We propose a plane-based reference architecture that decouples connectivity/identity, semantic discovery, and execution. Besides, we introduce signed, soft-state capability descriptors to support intent- and constraint-aware discovery. To cope with adversarial settings, we further present a \textit{tiered verification} spectrum: Tier~1 relies on reputation signals, Tier~2 applies lightweight canary challenge-response with fallback selection, and Tier~3 requires evidence packages such as signed tool receipts/traces (and, when applicable, attestation). Using a discrete-event simulator that models registry-based discovery, Sybil-style index poisoning, and capability drift, we show that tiered verification substantially improves end-to-end workflow success while keeping discovery latency near-constant and control-plane overhead modest.
Cognition to Control - Multi-Agent Learning for Human-Humanoid Collaborative Transport
Venue: arXiv cs.RO 2026
Year: 2026

Effective human-robot collaboration (HRC) requires translating high-level intent into contact-stable whole-body motion while continuously adapting to a human partner. Many vision-language-action (VLA) systems learn end-to-end mappings from observations and instructions to actions, but they often emphasize reactive (System 1-like) behavior and leave under-specified how sustained System 2-style deliberation can be integrated with reliable, low-latency continuous control. This gap is acute in multi-agent HRC, where long-horizon coordination decisions and physical execution must co-evolve under contact, feasibility, and safety constraints. We address this limitation with cognition-to-control (C2C), a three-layer hierarchy that makes the deliberation-to-control pathway explicit: (i) a VLM-based grounding layer that maintains persistent scene referents and infers embodiment-aware affordances/constraints; (ii) a deliberative skill/coordination layer-the System 2 core-that optimizes long-horizon skill choices and sequences under human-robot coupling via decentralized MARL cast as a Markov potential game with a shared potential encoding task progress; and (iii) a whole-body control layer that executes the selected skills at high frequency while enforcing kinematic/dynamic feasibility and contact stability. The deliberative layer is realized as a residual policy relative to a nominal controller, internalizing partner dynamics without explicit role assignment. Experiments on collaborative manipulation tasks show higher success and robustness than single-agent and end-to-end baselines, with stable coordination and emergent leader-follower behaviors.
DMD-augmented Unpaired Neural Schrödinger Bridge for Ultra-Low Field MRI Enhancement
Venue: arXiv cs.CV 2026
Year: 2026

Ultra Low Field (64 mT) brain MRI improves accessibility but suffers from reduced image quality compared to 3 T. As paired 64 mT - 3 T scans are scarce, we propose an unpaired 64 mT $\rightarrow$ 3 T translation framework that enhances realism while preserving anatomy. Our method builds upon the Unpaired Neural Schrödinge Bridge (UNSB) with multi-step refinement. To strengthen target distribution alignment, we augment the adversarial objective with DMD2-style diffusion-guided distribution matching using a frozen 3T diffusion teacher. To explicitly constrain global structure beyond patch-level correspondence, we combine PatchNCE with an Anatomical Structure Preservation (ASP) regularizer that enforces soft foreground background consistency and boundary aware constraints. Evaluated on two disjoint cohorts, the proposed framework achieves an improved realism structure trade-off, enhancing distribution level realism on unpaired benchmarks while increasing structural fidelity on the paired cohort compared to unpaired baselines.
Towards Effective Orchestration of AI x DB Workloads
Venue: arXiv cs.DB 2026
Year: 2026

AI-driven analytics are increasingly crucial to data-centric decision-making. The practice of exporting data to machine learning runtimes incurs high overhead, limits robustness to data drift, and expands the attack surface, especially in multi-tenant, heterogeneous data systems. Integrating AI directly into database engines, while offering clear benefits, introduces challenges in managing joint query processing and model execution, optimizing end-to-end performance, coordinating execution under resource contention, and enforcing strong security and access-control guarantees. This paper discusses the challenges of joint DB-AI, or AIxDB, data management and query processing within AI-powered data systems. It presents various challenges that need to be addressed carefully, such as query optimization, execution scheduling, and distributed execution over heterogeneous hardware. Database components such as transaction management and access control need to be re-examined to support AI lifecycle management, mitigate data drift, and protect sensitive data from unauthorized AI operations. We present a design and preliminary results to demonstrate what may be key to the performance for serving AIxDB queries.
Learning Surgical Robotic Manipulation with 3D Spatial Priors
Venue: arXiv cs.RO 2026
Year: 2026

Achieving 3D spatial awareness is crucial for surgical robotic manipulation, where precise and delicate operations are required. Existing methods either explicitly reconstruct the surgical scene prior to manipulation, or enhance multi-view features by adding wrist-mounted cameras to supplement the default stereo endoscopes. However, both paradigms suffer from notable limitations: the former easily leads to error accumulation and prevents end-to-end optimization due to its multi-stage nature, while the latter is rarely adopted in clinical practice since wrist-mounted cameras can interfere with the motion of surgical robot arms. In this work, we introduce the Spatial Surgical Transformer (SST), an end-to-end visuomotor policy that empowers surgical robots with 3D spatial awareness by directly exploring 3D spatial cues embedded in endoscopic images. First, we build Surgical3D, a large-scale photorealistic dataset containing 30K stereo endoscopic image pairs with accurate 3D geometry, addressing the scarcity of 3D data in surgical scenes. Based on Surgical3D, we finetune a powerful geometric transformer to extract robust 3D latent representations from stereo endoscopes images. These representations are then seamlessly aligned with the robot's action space via a lightweight multi-level spatial feature connector (MSFC), all within an endoscope-centric coordinate frame. Extensive real-robot experiments demonstrate that SST achieves state-of-the-art performance and strong spatial generalization on complex surgical tasks such as knot tying and ex-vivo organ dissection, representing a significant step toward practical clinical deployment. The dataset and code will be released.
SWE-CI: Evaluating Agent Capabilities in Maintaining Codebases via Continuous Integration
Venue: arXiv cs.SE 2026
Year: 2026

Large language model (LLM)-powered agents have demonstrated strong capabilities in automating software engineering tasks such as static bug fixing, as evidenced by benchmarks like SWE-bench. However, in the real world, the development of mature software is typically predicated on complex requirement changes and long-term feature iterations -- a process that static, one-shot repair paradigms fail to capture. To bridge this gap, we propose \textbf{SWE-CI}, the first repository-level benchmark built upon the Continuous Integration loop, aiming to shift the evaluation paradigm for code generation from static, short-term \textit{functional correctness} toward dynamic, long-term \textit{maintainability}. The benchmark comprises 100 tasks, each corresponding on average to an evolution history spanning 233 days and 71 consecutive commits in a real-world code repository. SWE-CI requires agents to systematically resolve these tasks through dozens of rounds of analysis and coding iterations. SWE-CI provides valuable insights into how well agents can sustain code quality throughout long-term evolution.
Evolutionary Multimodal Reasoning via Hierarchical Semantic Representation for Intent Recognition
Venue: arXiv cs.MM 2026
Year: 2026

Multimodal intent recognition aims to infer human intents by jointly modeling various modalities, playing a pivotal role in real-world dialogue systems. However, current methods struggle to model hierarchical semantics underlying complex intents and lack the capacity for self-evolving reasoning over multimodal representations. To address these issues, we propose HIER, a novel method that integrates HIerarchical semantic representation with Evolutionary Reasoning based on Multimodal Large Language Model (MLLM). Inspired by human cognition, HIER introduces a structured reasoning paradigm that organizes multimodal semantics into three progressively abstracted levels. It starts with modality-specific tokens capturing localized semantic cues, which are then clustered via a label-guided strategy to form mid-level semantic concepts. To capture higher-order structure, inter-concept relations are selected using JS divergence scores to highlight salient dependencies across concepts. These hierarchical representations are then injected into MLLM via CoT-driven prompting, enabling step-wise reasoning. Besides, HIER utilizes a self-evolution mechanism that refines semantic representations through MLLM feedback, allowing dynamic adaptation during inference. Experiments on three challenging benchmarks show that HIER consistently outperforms state-of-the-art methods and MLLMs with 1-3% gains across all metrics. Code and more results are available at https://github.com/thuiar/HIER.
SkillVLA: Tackling Combinatorial Diversity in Dual-Arm Manipulation via Skill Reuse
Venue: arXiv cs.RO 2026
Year: 2026

Recent progress in vision-language-action (VLA) models has demonstrated strong potential for dual-arm manipulation, enabling complex behaviors and generalization to unseen environments. However, mainstream bimanual VLA formulations largely overlook the critical challenge of combinatorial diversity. Different pairings of single-arm behaviors can induce qualitatively distinct task behaviors, yet existing models do not explicitly account for this structure. We argue that effective bimanual VLAs should support skill reuse - the ability to recombine previously learned single-arm skills across novel left-right pairings - thereby avoiding the need to separately learn every possible combination. Current VLA designs entangle skills across arms, preventing such recomposition and limiting scalability. To address this limitation, we propose SkillVLA, a framework explicitly designed to enable skill reuse in dual-arm manipulation. Extensive experiments demonstrate that SkillVLA substantially improves skill composition, increasing overall success rate from 0% to 51%, and achieves strong performance on cooperative and long-horizon tasks.
Semantic Bridging Domains: Pseudo-Source as Test-Time Connector
Venue: arXiv cs.CL 2026
Year: 2026

Distribution shifts between training and testing data are a critical bottleneck limiting the practical utility of models, especially in real-world test-time scenarios. To adapt models when the source domain is unknown and the target domain is unlabeled, previous works constructed pseudo-source domains via data generation and translation, then aligned the target domain with them. However, significant discrepancies exist between the pseudo-source and the original source domain, leading to potential divergence when correcting the target directly. From this perspective, we propose a Stepwise Semantic Alignment (SSA) method, viewing the pseudo-source as a semantic bridge connecting the source and target, rather than a direct substitute for the source. Specifically, we leverage easily accessible universal semantics to rectify the semantic features of the pseudo-source, and then align the target domain using the corrected pseudo-source semantics. Additionally, we introduce a Hierarchical Feature Aggregation (HFA) module and a Confidence-Aware Complementary Learning (CACL) strategy to enhance the semantic quality of the SSA process in the absence of source and ground truth of target domains. We evaluated our approach on tasks like semantic segmentation and image classification, achieving a 5.2% performance boost on GTA2Cityscapes over the state-of-the-art.
Empirical Studies on Adversarial Reverse Engineering with Students
Venue: arXiv cs.SE 2026
Year: 2026

Empirical research in reverse engineering and software protection is crucial for evaluating the efficacy of methods designed to protect software against unauthorized access and tampering. However, conducting such studies with professional reverse engineers presents significant challenges, including access to professionals and affordability. This paper explores the use of students as participants in empirical reverse engineering experiments, examining their suitability and the necessary training; the design of appropriate challenges; strategies for ensuring the rigor and validity of the research and its results; ways to maintain students' privacy, motivation, and voluntary participation; and data collection methods. We present a systematic literature review of existing reverse engineering experiments and user studies, a discussion of related work from the broader domain of software engineering that applies to reverse engineering experiments, an extensive discussion of our own experience running experiments ourselves in the context of a master-level software hacking and protection course, and recommendations based on this experience. Our findings aim to guide future empirical studies in RE, balancing practical constraints with the need for meaningful, reproducible results.